SLAMBOT: Structural health monitoring robot using lamb waves

Author

Wenyi Wang ; Henderson, Thomas C. ; Joshi, Akanksha ; Grant, Edward

Author_Institution

Univ. of Utah, Salt Lake City, UT, USA

fYear

2014

fDate

28-29 Sept. 2014

Firstpage

1

Lastpage

7

Abstract

We propose the combination of a mobile robot and a computational sensor network approach to perform structural health monitoring of structures. The robot is equipped with piezoelectric sensor actuators capable of sending and receiving ultrasound signals, and explores the surface of a structure to be monitored. A computational model of ultrasound propagation through the material is used to define two structural health monitoring methods: (1) a time reversal damage imaging (TRDI) process, and (2) a damage range sensor (DRS) (i.e., it provides the range to damaged areas in the structure). The damage in the structure is mapped using the DRS approach. The model is validated in an experimental setting.

Keywords

aircraft; condition monitoring; industrial robots; mobile robots; piezoelectric actuators; surface acoustic waves; DRS; Lamb waves; SLAMBOT; TRDI; computational sensor network approach; damage range sensor; mobile robot; piezoelectric sensor actuators; structural health monitoring robot; time reversal damage imaging process; ultrasound propagation; ultrasound signals; Computational modeling; Dispersion; Monitoring; Receivers; Robot sensing systems; Ultrasonic imaging;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Information Integration for Intelligent Systems (MFI), 2014 International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-6731-5

Type

conf

DOI

10.1109/MFI.2014.6997700

Filename

6997700